基于高斯-牛顿法的水下导航系统校准算法研究
|
摘要
多正交信号水下导航系统可以实现对水下及水上目标的导航与定位,系统的校准算法是其定位准确性的一项关键技术。基于高斯-牛顿法的多正交信号水下导航系统的校准算法,可以将非线性的问题近似线性化。利用不同坐标系之间的转换关系,通过迭代计算得到水下发射源信标的地理坐标和姿态偏角。通过仿真表明,水下信标位置估计的精度与GPS测量误差和声学测距精度有关,小角度水下信标的姿态估计稳健性强。
The multi-orthogonal signals underwater navigation can achieve navigate and positioning of underwater and water targets,and calibration algorithm of the system is a key technology to ensure the accuracy of positioning. Based on Gauss-Newton al-gorithm,linearize the nonlinear problems approximately. By using the conversion relation ship between different coordinate systems,the transformation between different coordinate systems is obtained by iteratire the underwater narigation system calibration algo-rithm cam calculation,and the nonlinear problem can be aproximated linearly. The simulation shows that position estimation is relat-ed to the measurement error of GPS and the accuracy of range by acoustic method,and small angle of attitude estimated have strong robustness.
The multi-orthogonal signals underwater navigation can achieve navigate and positioning of underwater and water targets,and calibration algorithm of the system is a key technology to ensure the accuracy of positioning. Based on Gauss-Newton al-gorithm,linearize the nonlinear problems approximately. By using the conversion relation ship between different coordinate systems,the transformation between different coordinate systems is obtained by iteratire the underwater narigation system calibration algo-rithm cam calculation,and the nonlinear problem can be aproximated linearly. The simulation shows that position estimation is relat-ed to the measurement error of GPS and the accuracy of range by acoustic method,and small angle of attitude estimated have strong robustness.
引文
[1]田坦.水下定位与导航技术[M].北京:国防工业出版社,2007:3-9.
[2]郑翆娥.超短基线定位技术在水下潜器对接中的应用研究[D].哈尔滨:哈尔滨工程大学,2003.
[3]喻敏.长程超短基线定位系统研制[D].哈尔滨:哈尔滨工程大学,2006.
[4]张森,张勇平,钟何平,等.一种新的水下区域导航系统及湖上试验[J].声学技术,2015,34(2):482-485.
[5]Sen Zhang,Jinbiao Guo,Zhen Tian. An Underwater Navi-gation System Based on Multi-Orthogonal Signals and ItsLake Trial[C]//17th IEEE International Conference onCommunication Technology,2017:1145-1149.
[6]唐秋华,吴永亭,丁继胜,等.超短基线声学定位系统的校准技术研究[J].声学技术,2006,25(4):281-287.
[7]杨国保.超短基线系统安装校准技术研究[D].哈尔滨:哈尔滨工程大学,2013.
[8]郑翠娥,孙大军,张殿伦,等.超短基线声学定位系统安装误差精确校准[J].哈尔滨工程大学学报,2007,28(8):894-898.
[9]王新洲.非线性模型参数估计理论与应用[M].武汉:武汉大学出版社,2002:61-63.
[10]Jan Opderbecke. At-Sea Calibration of a USBL Underwa-ter Vehicle Positioning System[C]//OCEANS'97 MTS/IEEE Conference Proceedings,1997:721-726.
[11]李朝奎,黄力民,王志忠.非线性函数一阶和二阶泰勒展开截留项下的平差效果[J].湘潭矿业学院学报,2000,15(3):91-94.
[12]Kegen Yu,Ian Sharp,Y.Jay Guo.地面无线定位技术[M].崔逊学,汪涛译.北京:电子工业出版社,2012:175-177.
[2]郑翆娥.超短基线定位技术在水下潜器对接中的应用研究[D].哈尔滨:哈尔滨工程大学,2003.
[3]喻敏.长程超短基线定位系统研制[D].哈尔滨:哈尔滨工程大学,2006.
[4]张森,张勇平,钟何平,等.一种新的水下区域导航系统及湖上试验[J].声学技术,2015,34(2):482-485.
[5]Sen Zhang,Jinbiao Guo,Zhen Tian. An Underwater Navi-gation System Based on Multi-Orthogonal Signals and ItsLake Trial[C]//17th IEEE International Conference onCommunication Technology,2017:1145-1149.
[6]唐秋华,吴永亭,丁继胜,等.超短基线声学定位系统的校准技术研究[J].声学技术,2006,25(4):281-287.
[7]杨国保.超短基线系统安装校准技术研究[D].哈尔滨:哈尔滨工程大学,2013.
[8]郑翠娥,孙大军,张殿伦,等.超短基线声学定位系统安装误差精确校准[J].哈尔滨工程大学学报,2007,28(8):894-898.
[9]王新洲.非线性模型参数估计理论与应用[M].武汉:武汉大学出版社,2002:61-63.
[10]Jan Opderbecke. At-Sea Calibration of a USBL Underwa-ter Vehicle Positioning System[C]//OCEANS'97 MTS/IEEE Conference Proceedings,1997:721-726.
[11]李朝奎,黄力民,王志忠.非线性函数一阶和二阶泰勒展开截留项下的平差效果[J].湘潭矿业学院学报,2000,15(3):91-94.
[12]Kegen Yu,Ian Sharp,Y.Jay Guo.地面无线定位技术[M].崔逊学,汪涛译.北京:电子工业出版社,2012:175-177.